void BackgroundStateContext::setBackgroundImage (BackgroundImage backgroundImage)
{
LOG4CPP_INFO_S ((*mainCat)) << "BackgroundStateContext::setBackgroundImage"
<< " background=" << backgroundImageToString (backgroundImage).toLatin1().data();
BackgroundState backgroundState= BACKGROUND_STATE_NONE;
switch (backgroundImage) {
case BACKGROUND_IMAGE_FILTERED:
backgroundState = BACKGROUND_STATE_CURVE;
break;
case BACKGROUND_IMAGE_NONE:
backgroundState = BACKGROUND_STATE_NONE;
break;
case BACKGROUND_IMAGE_ORIGINAL:
backgroundState = BACKGROUND_STATE_ORIGINAL;
break;
}
// It is safe to transition to the new state immediately since no BackgroundState classes are on the stack
requestStateTransition (backgroundState);
completeRequestedStateTransitionIfExists ();
}
void BackgroundStateContext::close()
{
LOG4CPP_INFO_S ((*mainCat)) << "BackgroundStateContext::close";
// It is safe to transition to the new state immediately since no BackgroundState classes are on the stack
requestStateTransition (BACKGROUND_STATE_UNLOADED);
completeRequestedStateTransitionIfExists ();
}
void stopCB(const robot_base_msgs::SoftwareStopConstPtr& message){
//Need to flip as message is true when should stop
if(message->stop)
{
got_free = false;
}
else
{
aero_srr_msgs::AeroState req;
req.state = aero_srr_msgs::AeroState::SEARCH;
requestStateTransition(req);
}
ROS_WARN("Dummy Starrtup Node Got Software Stop [%s]: %s",(message->stop)?"Stop":"Go", message->message.c_str());
}
BackgroundStateContext::BackgroundStateContext(MainWindow &mainWindow) :
m_mainWindow (mainWindow)
{
LOG4CPP_INFO_S ((*mainCat)) << "BackgroundStateContext::BackgroundStateContext";
// These states follow the same order as the BackgroundState enumeration
m_states.insert (BACKGROUND_STATE_CURVE , new BackgroundStateCurve (*this, mainWindow.scene()));
m_states.insert (BACKGROUND_STATE_NONE , new BackgroundStateNone (*this, mainWindow.scene()));
m_states.insert (BACKGROUND_STATE_ORIGINAL, new BackgroundStateOriginal (*this, mainWindow.scene()));
m_states.insert (BACKGROUND_STATE_UNLOADED, new BackgroundStateUnloaded (*this, mainWindow.scene()));
ENGAUGE_ASSERT (m_states.size () == NUM_BACKGROUND_STATES);
m_currentState = NUM_BACKGROUND_STATES; // Value that forces a transition right away
requestStateTransition (BACKGROUND_STATE_UNLOADED);
completeRequestedStateTransitionIfExists();
}